Expand description
Native serial-chain rigid-body backend.
This is the default RobotModelBackend implementation. It is a direct
port of the behaviour of libfranka’s franka::RobotModel
(src/robot_model.cpp, identical in 0.20.4 and 0.21.2), which delegates to
Pinocchio:
| libfranka / Pinocchio | here |
|---|---|
pinocchio::forwardKinematics + data.oMi[i] | NativeBackend::forward_kinematics |
getJointJacobian(..., LOCAL) / getFrameJacobian(..., LOCAL) | body Jacobian |
... LOCAL_WORLD_ALIGNED | zero Jacobian |
pinocchio::crba | NativeBackend::crba |
pinocchio::rnea / computeGeneralizedGravity | NativeBackend::rnea |
RobotModel::updateInertiaIfNeeded | NativeBackend::body_inertias |
Everything after NativeBackend::from_urdf runs on fixed-size arrays and
nalgebra static matrices, so no heap allocation happens on the query path.
Structs§
- Native
Backend - Serial-chain rigid-body model built from a URDF.